CN211670182U - Transmission structure of boat moving device - Google Patents

Abstract

A transmission structure of a boat moving device comprises a boat moving support column, a transmission rod, a first-stage arm, a second-stage arm, a boat moving gripper and a kinetic energy device; the number of the boat carrying support columns is two; the first-stage arm is arranged on the two boat carrying support columns; the kinetic energy device is fixedly arranged on the boat carrying support column and the first-stage arm; the transmission rod is arranged between the first-stage arms and between the boat carrying support columns, and one end of the transmission rod is connected with the kinetic energy device; the second-stage arm is arranged on the first-stage arm; the boat moving gripper is arranged on the second-stage arm; the utility model discloses in realize the motion of second grade arm and removal boat tongs through belt and X axle servo motor's cooperation by a motor control, reduce the risk of maloperation.

Description

Transmission structure of boat moving device

Technical Field

The utility model relates to a semiconductor and solar cell make the field, especially relate to a remove transmission structure of boat device.

Background

In the manufacturing process of semiconductors and solar photovoltaic cells, the boat needs to be transferred by the boat moving mechanism from a paddle loading station, a streamline station and a boat caching station. The conventional motor-controlled boat moving head moves up and down on the Z axis and moves horizontally on the X axis, and a set distance exists between the paddle loading station and the boat caching station, so that a second-level arm is usually selected to control the movement on the X axis, the space is saved, and the extension length is also reached. In the prior art, two motors are required to be arranged for the movement of the boat moving mechanism on the X axis, wherein one motor drives the secondary arm, and the other motor drives the boat moving head. But the second grade arm height that is provided with two motors is higher, is difficult to use in the lower board of interlamellar spacing, and operating personnel is at the in-process of two motors of manual operation simultaneously, and the possibility that produces the risk improves greatly.

Disclosure of Invention

The utility model aims at solving the defects of the prior art, providing a transmission structure of a boat moving device, simple structure and convenient use.

A transmission structure of a boat moving device comprises a boat moving support column, a transmission rod, a first-stage arm, a second-stage arm, a boat moving gripper and a kinetic energy device; the number of the boat carrying support columns is two; the first-stage arm is arranged on the two boat carrying support columns; the kinetic energy device is fixedly arranged on the boat carrying support column and the first-stage arm; the transmission rod is arranged between the first-stage arms and between the boat carrying support columns, and one end of the transmission rod is connected with the kinetic energy device; the second-stage arm is arranged on the first-stage arm; the boat moving gripper is arranged on the second-stage arm.

Further, the kinetic energy device comprises a Z-axis servo motor and an X-axis servo motor; the two boat carrying support columns are symmetrically arranged; the boat moving support column is symmetrically provided with a first-stage arm, and a guide rail and a slide block are arranged between the first-stage arm and the boat moving support column; one of the boat carrying support columns is provided with a Z-axis servo motor; a first transmission rod is arranged between the two boat carrying support columns and is arranged on the boat carrying support columns; one end of the first transmission rod is connected with an output shaft of the Z-axis servo motor.

Furthermore, the first-stage arms are arranged on one side of the boat carrying support columns, the number of the first-stage arms is two, and the two first-stage arms are symmetrically arranged on the two boat carrying support columns; the bottom of the first-stage arm is provided with at least two second-stage arm supporting wheels, and a connecting line of circle centers of the second-stage arm supporting wheels is parallel to the ground.

Furthermore, the secondary arm is movably connected with the primary arm; the second-stage arms are respectively arranged on the two first-stage arms; the second-stage arm is provided with a second transmission rod; a gear and a rack are arranged between the second transmission rod and the second-stage arm, wherein the rack is arranged on the upper surface of the second-stage arm, the gear is arranged on the second transmission rod, and the gear is meshed with the rack; the lower surface of the second-stage arm is provided with a corresponding supporting wheel rail, and the supporting wheel rail is attached to the second-stage arm supporting wheel.

Further, the second-stage arm is arranged between the second transmission rod and the second-stage arm supporting wheel; still be provided with the belt fixed block between one-level arm and the second grade arm, the belt fixed block is fixed to be set up in the relative one side of two one-level arms, and the belt fixed block sets up in one-level arm and keeps away from the one end of moving the boat support column.

Further, a fixed block guide rail and a fixed block sliding block are arranged between the secondary arm and the belt fixed block; the fixed block sliding block is fixedly arranged on the belt fixed block; the fixed block guide rail is arranged on the second-stage arm base.

Further, the secondary arm comprises a secondary arm base, a rack, a belt, a driven wheel, a tension wheel adjusting device and a boat carrying gripper; the rack is arranged on the upper side of the secondary arm base; the driven wheel is also arranged on the second-stage arm base; the tensioning wheel is arranged between the driven wheels; the belt is arranged on the driven wheel; the tensioning wheel adjusting device is arranged on the secondary arm base; the boat moving gripper is arranged on the second-stage arm base.

Furthermore, the whole secondary arm base is a rectangular plate, and the secondary arm base comprises a first edge, a second edge, a third edge and a fourth edge, wherein the first edge and the third edge are arranged in parallel, and the second edge and the fourth edge are arranged in parallel; the four driven wheels are respectively arranged at four corners of the secondary arm base; a tension wheel is arranged between the two driven wheels arranged on the first side, and a tension wheel is arranged between the two driven wheels arranged on the third side; correspondingly, a tensioning wheel adjusting device is further arranged on the first side and the third side.

Further, the boat moving gripper is arranged on the first side, and a gripper sliding block and a gripper guide rail are arranged between the boat moving gripper and the second-stage arm base; the hand grip guide rail is arranged on the second-stage arm base; the hand grip sliding block is arranged on the boat moving hand grip.

Furthermore, a groove is formed in one side, close to the boat support detection plate, of the gripper sliding seat; the belt is arranged on the four driven wheels, surrounds the four driven wheels for a circle, passes through the belt fixing block and the boat carrying gripper, is fixed by the belt fixing block, and is fixedly connected with the boat carrying gripper; the rack is parallel to the fixed block guide rail; the rack is parallel to the gripper guide rail; the hand grab guide rail and the fixed block guide rail are arranged on two sides of the rack.

The utility model has the advantages that:

in the utility model, the movement of the second-level arm and the boat-carrying gripper is controlled by one motor through the matching of the belt and the X-axis servo motor, so that the risk of misoperation is reduced;

the height of the second-stage arm in the utility model is small, which is suitable for the space transportation of the floor height;

the utility model discloses in, through set up micro-gap switch cooperation anticollision detection board and boat support detection board in moving the boat tongs and realize the automatic adjustment to the angle of tongs backing plate and whether to have the automated inspection of load to the tongs backing plate.

Drawings

Fig. 1 is a perspective view of the present invention;

FIG. 2 is an enlarged fragmentary perspective view of FIG. 1;

FIG. 3 is a connection diagram of the first-stage arm and the second-stage arm of the present invention;

FIG. 4 is a schematic view of the second-stage arm and the boat-carrying gripper of the present invention;

FIG. 5 is a structural diagram of a second arm of the present invention;

FIG. 6 is a diagram showing the connection relationship between the second-stage arm and the boat-carrying gripper of the present invention;

FIG. 7 is a schematic view of the boat-carrying gripper of the present invention;

FIG. 8 is a connection diagram of the anti-collision detection plate and the boat support detection plate of the present invention;

FIG. 9 is a connection diagram of the boat support detection plate, the hand rotating plate and the hand sliding seat of the present invention;

fig. 10 is a connection diagram of the belt pressing plate, the boat support detection plate and the gripper slide seat according to the present invention.

The attached drawings indicate the following: the boat carrying support column 1, a first transmission rod 11, a first-stage arm 2, a second-stage arm support wheel 21, a belt fixing block 22, a second-stage arm 3, a second-stage arm base 31, a first side 311, a second side 312, a third side 313, a fourth side 314, a rack 321, a gear 322, a belt 33, a driven wheel 34, a tension wheel 35, a tension wheel adjusting device 36, a fixing block guide rail 371, a fixing block slider 372, a gripper slider 381, a gripper guide rail 382, a second transmission rod 39, a boat carrying gripper 4, a gripper slider 41, a belt pressing plate 411, a slider fixing hole 412, a gripper rotating plate 42, an X-axis bearing 421, a gripper angle adjusting block 422, a Y-axis bearing 423, a sensing plate adjusting spring 424, a gripper pad plate 43, an anti-collision sensing plate 44, a sensing plate 441, a boat holding sensing plate 45, a first microswitch 451, a second microswitch 452, a microswitch 453, a microswitch four 454, a pressing block 455, an X-axis servomotor 52.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic concept of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed at will, and the layout of the components may be more complicated.

The first embodiment is as follows:

as shown in fig. 1 and 2, the boat carrying device comprises a boat carrying support column 1, a transmission rod, a first-stage arm 2, a second-stage arm 3, a boat carrying gripper 4 and a kinetic energy device. The boat carrying support columns 1 are two in number, and the two boat carrying support columns 1 are symmetrically arranged; the first-stage arms 2 are symmetrically arranged on the two boat carrying support columns 1; the kinetic energy device is fixedly arranged on the boat carrying support column 1 and the first-stage arm 2; the transmission rod is arranged between the first-stage arms 2 and between the boat carrying support columns 1, and one end of the transmission rod is connected with the kinetic energy device; the secondary arm 3 is arranged on the primary arm 2; the boat carrying gripper 4 is arranged on the second-stage arm 3. In the present embodiment, the kinetic energy device includes a Z-axis servomotor 51 and an X-axis servomotor 52, and the direction of the X, Y, Z axis is shown in fig. 1 and 2.

The boat carrying support columns 1 are perpendicular to the ground, the boat carrying support columns 1 are two, and the two boat carrying support columns 1 are symmetrically arranged. Move and be provided with one-level arm 2 on the boat support column 1, be provided with guide rail and slider between one-level arm 2 and the boat support column 1 of moving, the guide rail sets up in the one side that the support column deviates from each other in this embodiment, and the slider sets up in one-level arm 2. A Z-axis servo motor 51 is provided at the tip of one of the two boat support columns 1, and in the present embodiment, is provided at the right boat support column 1. A first transmission rod 11 is further arranged between the two boat carrying support columns 1, and the first transmission rod 11 is arranged at the tops of the boat carrying support columns 1. One end of the first transmission rod 11 is connected with an output shaft of the Z-axis servo motor 51. In this embodiment, the rotation of the Z-axis servo can drive the sliding of the sliders on the guide rails, and the first transmission rod 11 can ensure that the sliding speeds of the sliders on the two boat-carrying support columns 1 are the same, so that the first-stage arms 2 on the two boat-carrying support columns 1 can move up and down at the same speed.

As shown in fig. 3, the first-stage arms 2 are perpendicular to the boat carrying support columns 1, the number of the first-stage arms 2 is two, and the two first-stage arms 2 are symmetrically arranged on the two boat carrying support columns 1. A second-stage arm 3 is arranged on the first-stage arm 2, and the second-stage arm 3 is movably connected with the first-stage arm 2. The number of the secondary arms 3 is two, the two secondary arms 3 are respectively arranged on one side opposite to the two primary arms 2, the primary arms 2 and the secondary arms 3 are connected and arranged the same, and the connection of the primary arms 2 and the secondary arms 3 on the right side is used as an example. The bottom of the first-stage arm 2 is provided with two second-stage arm supporting wheels 21, the number of the second-stage arm supporting wheels 21 is at least two, and a connecting line of circle centers of the two second-stage arm supporting wheels 21 is parallel to the ground. The top of the second-stage arm 3 is provided with a second transmission rod 39, the second transmission rod 39 is arranged at one end of the first-stage arm 2 far away from the boat carrying support column 1, and the second-stage arm 3 is arranged between the second transmission rod 39 and the second-stage arm support wheel 21. A gear 322 and a rack 321 are arranged between the second transmission rod 39 and the second stage arm 3, wherein the rack 321 is arranged on the upper surface of the second stage arm 3, the gear 322 is arranged on the second transmission rod 39, and the gear 322 is meshed with the rack 321. The lower surface of the secondary arm 3 is provided with a corresponding supporting wheel track, and the supporting wheel track is attached to the secondary arm supporting wheel 21. A belt 33 fixing block 22 is further arranged between the first-stage arm 2 and the second-stage arm 3, the belt 33 fixing block 22 is fixedly arranged on one side of the two first-stage arms 2 opposite to each other, and meanwhile, the belt 33 fixing block 22 is arranged at one end, far away from the boat carrying support column 1, of the first-stage arm 2. The X-axis servo motor 52 is disposed on the first-stage arm 2 on one side, and in this embodiment, the X-axis servo motor 52 is disposed on one end of the upper surface of the first-stage arm 2 on the right side, which is far away from the boat carrying support column 1. One end of the second transmission rod 39 is connected with an output shaft of the X-axis servo motor 52. With the rotation of the X-axis servo motor 52, the gear 322 drives the rack 321 to move, so that the secondary arm 3 moves.

As shown in fig. 4 to 6, the secondary arm 3 includes a secondary arm base 31, a rack 321, a belt 33, a driven pulley 34, a tension pulley 35, a tension pulley adjusting device 36, and a boat gripper 4. The whole secondary arm base 31 is a rectangular plate, the secondary arm base 31 comprises a first edge 311, a second edge 312, a third edge 313 and a fourth edge 314, the first edge 311 and the third edge 313 are arranged in parallel, the second edge 312 and the fourth edge 314 are arranged in parallel, the lengths of the first edge 311 and the third edge 313 are smaller than those of the second edge 312 and the fourth edge 314, and the second edge 312 is attached to the primary arm 2 in the implementation process. The rack 321 is disposed on the upper side of the second stage arm base 31. A fixed block guide rail 371 and a fixed block sliding block 372 are arranged between the secondary arm 3 and the belt 33 fixed block 22. The fixed block slider 372 is fixedly arranged on the belt 33 and fixed block 22. Fixed block guide 371 sets up in second grade arm base 31, and fixed block guide 371 is parallel with rack 321, and fixed block slider 372 can slide on fixed block guide 371. The number of the driven wheels 34 is four, and the four driven wheels 34 are respectively arranged at four corners of the secondary arm base 31. A tension wheel 35 is arranged between the two driven wheels 34 arranged at the first side 311, a tension wheel 35 is arranged between the two driven wheels 34 arranged at the third side 313, and correspondingly, tension wheel adjusting devices 36 are arranged on the first side 311 and the third side 313. The tensioning wheel adjusting device 36 can adjust the position of the tensioning wheel 35, and further adjust the distance between the two driven wheels 34 on the first side 311 and the distance between the two driven wheels 34 on the third side 313. The belt 33 is arranged on the four driven wheels 34, the belt 33 surrounds the four driven wheels 34 for one circle, meanwhile, the belt 33 also penetrates through the belt 33 fixing block 22 and the boat carrying handle 4, the belt 33 is fixed by the belt 33 fixing block 22, and the belt 33 is fixedly connected with the boat carrying handle 4. The belt 33 is a flexible transmission belt, and the belt 33 may be made of steel belt, steel wire, or the like. The boat-carrying gripper 4 is disposed on the first side 311, and a gripper slider 381 and a gripper guide rail 382 are disposed between the boat-carrying gripper 4 and the second-stage arm base 31. The hand grip guide rails 382 are arranged on the second-stage arm base 31, and in this embodiment, the hand grip guide rails 382 and the fixed block guide rails 371 are arranged on two sides of the rack 321; the gripper slider 381 is disposed on the boat gripper 4. In this embodiment, the driven wheel 34 drives the belt 33 to move along with the movement of the secondary arm 3, so that the boat-carrying gripper 4 and the secondary arm 3 move relatively, the moving speed of the boat-carrying gripper 4 is twice that of the secondary arm 3, and the tightness of the belt 33 can be adjusted by adjusting the tension wheel adjusting device 36.

As shown in fig. 7 to 10, the boat gripper 4 includes a gripper slide 41, a gripper angle adjusting block 422, a gripper rotating plate 42, a gripper backing plate 43, an anti-collision detection plate 44, and a boat-holding detection plate 45. The hand grip backing plate 43 and the crash detection plate 44 are vertically arranged, the hand grip backing plate 43 and the crash detection plate 44 are integrally made, and the hand grip backing plate 43 is made of a ceramic material in the embodiment. The anti-collision detection plate 44 is arranged on one side of the boat support detection plate 45; the boat receiving detection plate 45 is disposed between the collision detection plate 44 and the hand grip slide 41. The gripper rotating plate 42 is hinged to the gripper sliding base 41, the gripper rotating plate 42 is arranged above the boat support detection plate 45, and the gripper rotating plate 42 is further hinged to the anti-collision detection plate 44. The gripper rotation plate 42 includes two bearings, which are an X-axis bearing 421 and a Y-axis bearing 423, respectively, the Y-axis bearing 423 and the X-axis bearing 421 are fixed and vertically disposed, wherein an initial state of the X-axis bearing 421 is parallel to the rack 321, and an initial state of the Y-axis bearing 423 is perpendicular to the rack 321. The bearing rod end of the Y-axis bearing 423 is fixedly connected with the anti-collision detection plate 44, the gripper rotating plate 42 is hinged with the anti-collision detection plate 44 through the Y-axis bearing 423, the anti-collision detection plate 44 rotates along with the rotation of the Y-axis bearing 423, and the rotating direction is parallel to the anti-collision detection plate 44. The finger rotation plate 42 is hinged to the finger slider 41 through the X-axis bearing 421, and when the X-axis bearing 421 rotates, the Y-axis bearing 423 rotates around the bearing rod of the X-axis bearing 421, and thus the collision detecting plate 44 also rotates, with the rotation direction being perpendicular to the collision detecting plate 44 and the finger pad plate 43. The side of the X-axis bearing 421 is provided with a hand grip angle adjusting block 422, the hand grip angle adjusting block 422 is arranged on one side of the X-axis bearing 421 close to the hand grip sliding seat 41, and the angle of the X-axis bearing 421 can be adjusted by the hand grip angle adjusting block 422, so that the angle of the hand grip backing plate 43 is adjusted. The Y-axis bearing 423 is provided with a sensing plate 441 and an adjusting spring 424. The upper side of the gripper rotating plate 42 extends in a direction approaching the boat and tray collision-prevention detection plate 44, and the extension part is provided with two groups of sensing plate 441 adjusting springs 424, wherein the number of the sensing plate 441 adjusting springs 424 is two, and each group is at least one, and in the embodiment, each group is two. The two sets of sensing plates 441 and the adjusting springs 424 are respectively disposed at two sides of the Y-axis bearing 423, and the sensing plates 441 and the adjusting springs 424 are disposed perpendicular to the Y-axis bearing 423. Correspondingly, a columnar hollow is arranged on the upper surface of the anti-collision detection plate 44 and used for arranging the induction plate 441 and the adjusting spring 424. The sensing column adjusting spring can adjust the swing angle and the force of the collision detection plate 44 around the Y-axis bearing 423.

The boat support detection plate 45 is arranged between the boat support anti-collision plate and the hand grip sliding seat 41, and the boat support detection plate 45 is arranged below the hand grip rotating plate 42. The boat support detection plate 45 is provided with four microswitches, namely a first microswitch 451, a second microswitch 452, a third microswitch 453 and a fourth microswitch 454. The second micro switch 452 and the third micro switch 453 are fixedly arranged on one side, close to the anti-collision detection plate 44, of the boat support detection plate 45, the anti-collision detection plate 44 is correspondingly provided with a hollow part, the second micro switch 452 and the third micro switch 453 are located inside the anti-collision detection plate 44 in the connection process of the anti-collision detection plate 44 and the boat support detection plate 45, and contacts of the second micro switch 452 and the third micro switch 453 are located on the opposite surfaces of the two. The middle part of the hollowed-out part of the anti-collision detection plate 44 is further provided with a sensing plate 441, the sensing plate 441 is perpendicular to the hand grip base plate 43, in the connection process of the anti-collision detection plate 44 and the boat and support detection plate 45, the sensing plate 441 is located between the second micro switch 452 and the third micro switch 453, the second micro switch 452 and the third micro switch 453 are symmetrically arranged on two sides of the sensing plate 441, when the anti-collision detection plate 44 deflects around the Y-axis bearing 423, the sensing plate 441 can touch the contact of the second micro switch 452 or the third micro switch 453, the Y-axis bearing 423 is enabled to rotate correspondingly, and the deflection of the anti-collision detection plate 44 is corrected. The inside of the boat support detection plate 45 is also provided with a hollow, the hollow of the boat support detection plate 45 is divided into two parts, the middle parts of the two hollow parts are pressing blocks 455, the pressing blocks 455 and the boat support detection plate 45 are integrally manufactured, and the pressing blocks 455 are arranged inside the boat support detection plate 45. The first micro-switch 451 and the fourth micro-switch 454 are respectively arranged in the hollow parts at two sides of the pressing block 455, and the contact points of the first micro-switch 451 and the fourth micro-switch 454 face the gripper sliding seat 41. When the boat support is loaded on the hand-grip backing plate 43, the hand-grip backing plate 43 sinks downwards, and the boat support detection plate 45 is driven to deflect around the X-axis bearing 421, so that the contact of the first micro switch 451 or the fourth micro switch 454 contacts the hand-grip sliding base 41, and the boat support loaded on the hand-grip backing plate 43 is known.

As shown in fig. 9 and 10, a groove is formed on the side of the hand slide 41 close to the boat stock detection plate 45, the groove is used for arranging the belt 33, and a belt pressing plate 411 is further arranged between the boat stock detection plate 45 and the hand slide 41 to prevent the belt 33 from sliding. The belt pressing plate 411 is arranged between the pressing block 455 of the boat support detection plate 45 and the hand grip sliding base 41, the belt pressing plate 411 is fixedly connected with the hand grip sliding base 41 and can be in threaded connection, and the belt pressing plate 411 ensures that the belt 33 does not move relative to the hand grip sliding base 41. A second spring 456 is arranged on the pressing block 455 of the boat support detection plate 45, the second spring 456 is perpendicular to the pressing block 455, and a cylindrical hollow is correspondingly arranged on the gripper sliding base 41 and used for arranging the second spring 456. When connected, the second spring 456 is disposed below the belt pressing plate 411. The second spring 456 is matched with the hand grip angle adjusting block, and the purpose of adjusting the angle of the hand grip base plate 43 is achieved under the combined action. Meanwhile, the gripper slide 41 is further provided with a slide fixing hole 412 fixedly connected with the gripper slide 381.

The above description is only one specific example of the present invention and does not constitute any limitation to the present invention. It will be apparent to those skilled in the art that various modifications and variations in form and detail may be made without departing from the principles and structures of the invention without departing from the spirit and scope of the invention, but such modifications and variations are within the purview of the appended claims.

Claims (10)

1. A transmission structure of a boat moving device is characterized by comprising a boat moving support column, a transmission rod, a primary arm, a secondary arm, a boat moving gripper and a kinetic energy device; the number of the boat carrying support columns is two; the first-stage arm is arranged on the two boat carrying support columns; the kinetic energy device is fixedly arranged on the boat carrying support column and the first-stage arm; the transmission rod is arranged between the first-stage arms and between the boat carrying support columns, and one end of the transmission rod is connected with the kinetic energy device; the second-stage arm is arranged on the first-stage arm; the boat moving gripper is arranged on the second-stage arm.

2. The transmission structure of a boat carrier device as claimed in claim 1, wherein the kinetic energy device includes a Z-axis servomotor and an X-axis servomotor; the two boat carrying support columns are symmetrically arranged; the boat moving support column is symmetrically provided with a first-stage arm, and a guide rail and a slide block are arranged between the first-stage arm and the boat moving support column; one of the boat carrying support columns is provided with a Z-axis servo motor; a first transmission rod is arranged between the two boat carrying support columns and is arranged on the boat carrying support columns; one end of the first transmission rod is connected with an output shaft of the Z-axis servo motor.

3. The transmission structure of a boat handling device according to claim 2, wherein the first-stage arms are disposed at one side of the boat handling support columns, the number of the first-stage arms is two, and the two first-stage arms are symmetrically disposed on the two boat handling support columns; the bottom of the first-stage arm is provided with at least two second-stage arm supporting wheels, and a connecting line of circle centers of the second-stage arm supporting wheels is parallel to the ground.

4. The transmission structure of a boat carrier as claimed in claim 3, wherein the secondary arm is movably connected to the primary arm; the second-stage arms are respectively arranged on the two first-stage arms; the second-stage arm is provided with a second transmission rod; a gear and a rack are arranged between the second transmission rod and the second-stage arm, wherein the rack is arranged on the upper surface of the second-stage arm, the gear is arranged on the second transmission rod, and the gear is meshed with the rack; the lower surface of the second-stage arm is provided with a corresponding supporting wheel rail, and the supporting wheel rail is attached to the second-stage arm supporting wheel.

5. The transmission structure of a boat carrier according to claim 4, wherein the second arm is disposed between the second transmission rod and the second arm supporting wheel; still be provided with the belt fixed block between one-level arm and the second grade arm, the belt fixed block is fixed to be set up in the relative one side of two one-level arms, and the belt fixed block sets up in one-level arm and keeps away from the one end of moving the boat support column.

6. The transmission structure of a boat handling device as claimed in claim 5, wherein a fixed block guide rail and a fixed block slider are disposed between the secondary arm and the belt fixed block; the fixed block sliding block is fixedly arranged on the belt fixed block; the fixed block guide rail is arranged on the second-stage arm base.

7. The transmission structure of a boat carrier according to claim 6, wherein the secondary arm includes a secondary arm base, a rack, a belt, a driven wheel, a tension wheel adjuster, and a boat carrier gripper; the rack is arranged on the upper side of the secondary arm base; the driven wheel is also arranged on the second-stage arm base; the tensioning wheel is arranged between the driven wheels; the belt is arranged on the driven wheel; the tensioning wheel adjusting device is arranged on the secondary arm base; the boat moving gripper is arranged on the second-stage arm base.

8. The transmission structure of a boat carrier according to claim 7, wherein the secondary arm base is a rectangular plate as a whole, and the secondary arm base includes a first side, a second side, a third side and a fourth side, wherein the first side and the third side are arranged in parallel, and the second side and the fourth side are arranged in parallel; the four driven wheels are respectively arranged at four corners of the secondary arm base; a tension wheel is arranged between the two driven wheels arranged on the first side, and a tension wheel is arranged between the two driven wheels arranged on the third side; correspondingly, a tensioning wheel adjusting device is further arranged on the first side and the third side.

9. The transmission structure of a boat handling device according to claim 7, wherein the boat handling gripper is disposed on the first side, and a gripper slider and a gripper guide are disposed between the boat handling gripper and the second-stage arm base; the hand grip guide rail is arranged on the second-stage arm base; the hand grip sliding block is arranged on the boat moving hand grip.

10. The transmission structure of a boat handling device according to claim 9, wherein the belt is disposed on four driven wheels, the belt surrounds the four driven wheels, the belt further passes through a belt fixing block and a boat handling gripper, the belt fixing block fixes the belt, and the belt is fixedly connected with the boat handling gripper; the rack is parallel to the fixed block guide rail; the rack is parallel to the gripper guide rail; the hand grab guide rail and the fixed block guide rail are arranged on two sides of the rack.

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